CN106454727B - A kind of low-cost passive type localization method based on fine granularity subcarrier information - Google Patents
A kind of low-cost passive type localization method based on fine granularity subcarrier information Download PDFInfo
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- H04W4/02—Services making use of location information
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Abstract
The invention discloses a kind of low-cost passive type localization method based on fine granularity subcarrier information, including constructing WI-FI transceiver network, when there is no target in the WI-FI transceiver network of building, the CSI value of each of the links is acquired as baseline CSI value, when there are when a target in the WI-FI transceiver network of building, the CSI value of each of the links is acquired as CSI measured value, CSI value after pretreatment is pre-processed is filtered to CSI measured value, according to power attenuation model foundation equation group, it constructs objective function and objective function is solved, is i.e. the positioning of realization target；The invention avoids a large amount of man power and materials to establish fingerprint base, reduces corresponding cost, and pre-process to the CSI value of acquisition, influence of the multipath to positioning accuracy is effectively reduced, improves the feasibility based on model passive type localization method.
Description
Technical field
The present invention relates to indoor positioning technologies field, in particular to a kind of low-cost room based on fine granularity subcarrier information
Interior passive type localization method.
Background technique
Since in recent years, indoor positioning play the role of in many emerging applications it is vital, however it is existing
Most of location technologies require target it is self-contained can communication apparatus, which results in many scenes are not applicable.As WiFi is answered
Generality, the passive type indoor positioning technologies based on WiFi do not need any wireless device of user's wearing with it and can wear
The characteristics of wall of saturating nonmetallic substance, receive the huge concern of academia and industrial circle.
The existing indoor passive type localization method based on WiFi is divided into following 2 class:
The first kind: the passive type positioning based on RSS.Since business machine obtains, RSS information is convenient, and the method achieve low
Hardware cost positioning.The existing passive type positioning based on RSS is the method using model and fingerprint mostly.However RSS is coarse grain
Spend information, it is serious by multi-path influence, to obtained in environment indoors one accurately model tie to carry out high-precision positioning
Fruit be it is highly difficult, usually require that target on the LOS path of Radio Link, or the hardware for needing cost very expensive is set
It is standby.According to fingerprint method, when environmental change, needs continually to update fingerprint base, consume a large amount of manpowers.
Second class: the passive type positioning based on CSI information.The existing passive type localization method based on fine granularity CSI information
It is using fingerprint method mostly.A fingerprint database is established in different location fingerprints by collecting target, is then positioned
When one target position, the fingerprint of observation and original acquired fingerprint database are compared and analyzed, and then determine target position
It sets.This method can obtain satisfactory high-precision, but when environment is by great variety or slight change, it is needed
Update the fingerprint database artificial cycle accurately to be positioned, and this process can consume a large amount of manpower and object
Power.Therefore cost required for such method is excessively high, and feasibility is bad.
In conclusion existing passive type technology positioning accuracy, fit general property, in terms of Shortcomings.Therefore it needs
There is the passive type positioning new technology of higher feasibility.
Summary of the invention
In order to solve the above-mentioned problems of the prior art, the object of the present invention is to provide one kind based on fine granularity
The low-cost passive type indoor orientation method of carrier information, this method can provide satisfactory high-precision and be avoided that foundation
Fingerprint base reduces people's consumption and cost.
In order to realize that above-mentioned task, the present invention take following technical solution:
A kind of low-cost passive type localization method based on fine granularity subcarrier information, comprising the following steps:
Step 1, WI-FI transceiver network, including N number of transmitting terminal and M receiving end are constructed, further includes M × N link,
In any one transmitting terminal to any one receiving end be a link, the WI-FI transceiver network is divided into the first luxuriant and rich with fragrance alunite
Inside that region exterior and first Fresnel zone domain, it is divided into los path and non line of sight road inside the first Fresnel zone domain
Diameter；
Step 2, when not having target in the WI-FI transceiver network of building, the CSI value of each of the links is acquired as baseline
CSI valueF k , 1≤k≤ K, K is the number of subcarriers of the CSI value of each of the links acquisition；
Step 3, when there are the CSI value conducts for when a target, acquiring each of the links in the WI-FI transceiver network of building
CSI measured valueO k , 1≤k≤ K；
Step 4, if it is right to pass through (formula 1) in the overseas portion of first Fresnel zone for target present in WI-FI transceiver network
CSI measured value is filtered CSI value after pretreatment is pre-processed:
(formula 1)
Wherein,It is the CSI measured value of k-th of subcarrier,It is center frequency
Rate,It is the frequency of k-th of subcarrier, K is total number of sub-carriers；
If target present in WI-FI transceiver network inside first Fresnel zone domain, is filtered CSI measured value
Pretreatment:
It removes CSI measured value sub-carriers amplitude and is greater than the CSI measured value of baseline CSI value subcarrier amplitude to get in advance
CSI value after processing；
Step 5, by objective function shown in (formula 2) solve, obtain transmitting terminal, receiving end, target coordinate, i.e., in fact
Existing target positioning；
(formula 2)
Wherein, Y is all number of links of N number of transmitting terminal and M receiving end composition,For the coordinate of transmitting terminal i,=
[x i ,y i ]；For the coordinate of receiving end j,=[x j ,y j ]；For the coordinate of target,=[x a ,y a ]；h a Indicate target highest point
To the distance of the i-th j link；For the CSI value of the i-th j link after pretreatment；
Indicate that there are the CSI of the i-th j link when a target in estimation WI-FI transceiver network
Measured value:
When target is on los path,
When target is in obstructed path but when inside first Fresnel zone domain:
When target is at the overseas portion of first Fresnel zone:
Wherein,Value, the i-th j link are transmitting terminal i and reception
Hold the link between j；R ij For there are the estimation CSI measured values of the i-th j link when a target in WI-FI transceiver network；i=
1 ..., N；J=1 ..., M；
For the propagation attenuation value of the i-th j link:
,It is the distance of transmitting terminal i and receiving end j,It is in center frequency
The wavelength of rate；
D ija For diffracted sound field value caused by target occlusion the i-th j link:
,For Fresnel-Kirchhoff diffraction parameter,,h a Indicate target highest point to the i-th j link distance,It is hair
The distance of end i and target is penetrated,It is the distance of receiving end j and target；
Wherein, ；；
Wherein, WI-FI transceiver network described in step 1 is divided into the overseas portion of first Fresnel zone and first Fresnel zone domain
Inside is divided into los path inside the first Fresnel zone domain and obstructed path refers to:
If, then target present in WI-FI transceiver network is on los path；
If, then target present in WI-FI transceiver network obstructed path but
Inside first Fresnel zone domain；
If, then target present in WI-FI transceiver network is in the overseas portion of first Fresnel zone；
Wherein,Attenuation by absorption initial value when for preset target occlusion los path；
Average for baseline CSI value subcarrier is poor,,It is centre frequency,It is the frequency of k-th of subcarrier,It is the standard deviation of the baseline CSI value of k-th of subcarrier, k=1 ..., K；K is every chain
The number of subcarriers of the CSI value of road acquisition；
Indicate the variation of effective CSI,It is center
Frequency,For baseline CSI value,For CSI measured value,I= {b: O b –F b >δ eff , 1 ≤b≤ K}。
Compared with prior art, the present invention has following technical effect that
The invention avoids a large amount of man power and materials to establish fingerprint base, reduces corresponding cost, and to the CSI of acquisition
Value is pre-processed, and influence of the multipath to positioning accuracy is effectively reduced, and is improved based on the feasible of model passive type localization method
Property.
Detailed description of the invention
Fig. 1 is the low-cost passive type localization method flow chart of the invention based on fine granularity subcarrier information；
Fig. 2 is the low-cost passive type localization method deployment schematic diagram of the invention based on fine granularity subcarrier information；
Fig. 3 is LiFS and RASS, Pilot and RTI position error cumulative distribution figure；
Fig. 4 is LiFS and RASS, position error of the tetra- kinds of localization methods of Pilot and RTI under strong sighting distance scene；
Fig. 5 is LiFS and RASS, position error of the tetra- kinds of localization methods of Pilot and RTI under non-strong sighting distance scene；
Fig. 6 is influence of the client terminal quantity to position error；
Fig. 7 is influence of the mobile quantity of client to position error；
Fig. 8 is influence result of the different size objectives to position error；
Positioning result when Fig. 9 is two targets at a distance of 5.4 m, 3 m, 1.8 m and 0.6 m remote；
Below in conjunction with drawings and examples, the present invention is described in further detail.
Specific embodiment
Embodiment 1
As shown in Figure 1, a kind of low-cost passive type localization method based on fine granularity subcarrier information, including following step
It is rapid:
Step 1, WI-FI transceiver network, including 4 transmitting terminals and 7 receiving ends are constructed, one of transmitting terminal is to one
Receiving end is a link, then has 4 × 7 links in the WI-FI transceiver network；
In the typical home that size is the m of 10 m × 15, random placement 11 are equipped with the pen of 5300 NIC of Intel
Remember this computer.Wherein four computers are used as receiving end as transmitting terminal, remaining 7.Including furniture and with concrete in the environment
The barrier of wall and glass/metal door form composition.Due to being related to privacy concern, we only provide testing stand as shown in Figure 2
Floor plan.For every two test point at a distance of 0.6m, object of experiment is the people of an a height of 1.72m, is successively stood in each test
Point.Client obtains a CSI every 100 milliseconds (typical beacon transmission intervals).Serve as server is one
Possess the desktop computer of 3.6GHz CPU (Intel i7-4790) and 8GB memory, it collects the survey of CSI by wired connection
Magnitude, while running our location algorithm.The position of 4 AP and the position of 1 client are known in our test
's.In general, most of clients (such as laptop or mobile phone) be placed on it is on desk or hand held, so we set
The height for setting client is apart from ground 1.2m.
Step 2, when not having target in the WI-FI transceiver network of building, 10 CSI data packets for acquiring each of the links are made
For baseline CSI valueF k , 1≤k≤ K, K is the number of subcarriers of the CSI value of each of the links acquisition, and K is 30 in the present embodiment；
Step 3, when there are 10 CSI data for when a target, acquiring each of the links in the WI-FI transceiver network of building
Packet is used as CSI measured valueO k , 1≤k≤ K, K is 30 in the present embodiment；
Step 4, judge target present in WI-FI transceiver network whether on los path or in obstructed path
But inside first Fresnel zone domain or in the overseas portion of first Fresnel zone；
If, then target present in WI-FI transceiver network is on los path；
If, then target present in WI-FI transceiver network obstructed path but
Inside first Fresnel zone domain；
If, then target present in WI-FI transceiver network is in the overseas portion of first Fresnel zone；
Wherein,Attenuation by absorption initial value when for the preset path target occlusion LoS, generallyIn 4-9 dBm
In range, 5dBm is taken here；
Average for baseline CSI value subcarrier is poor,,It is centre frequency
For 2.42GHz,It is the frequency of k-th of subcarrier,It is the standard deviation of the baseline CSI value of k-th of subcarrier；
Indicate the variation of effective CSI,It is center
Frequency,For baseline CSI value,For CSI measured value,I= {b: O b –F b >δ eff , 1 ≤b≤ K}。
Step 5, if it is right to pass through (formula 1) in the overseas portion of first Fresnel zone for target present in WI-FI transceiver network
CSI measured value is filtered CSI value after pretreatment is pre-processed:
(formula 1)
Wherein,It is the CSI measured value of k-th of subcarrier,It is center frequency
Rate,Be centre frequency be 2.42GHz,It is the frequency of k-th of subcarrier, K is total number of sub-carriers, and K is 30 in the present embodiment；
If target present in WI-FI transceiver network inside first Fresnel zone domain, is filtered CSI measured value
Pretreatment:
It removes CSI amplitude and is greater than the subcarrier of baseline CSI range value to get the CSI value to after pre-processing；
If target is inside first Fresnel zone, whether diffraction theory is followed according to CSI variation tendency, by all sons
Carrier wave is divided into expection, unusual and transition three parts.The CSI amplitude of all subcarriers of desired part should all reduce, mainly by
Target causes.The CSI amplitude variation of unusual portion subcarriers is with performance of expected change result on the contrary, being the multipath by indoor environment
Propagation causes.Transition portion subcarrier CSI variation has " decline feature ", is that performance of expected change and abnormality change " transitional region ",
The subcarrier of existing CSI amplitude decline, also there is the raised subcarrier of CSI amplitude.
All subcarrier CSI of unusual part are serious by multi-path influence, can directly filter out.The subcarrier of transition portion
CSI amplitude have it is raised also have decline, we using threshold decision power decline it is whether sufficiently large, to filter out transitional region
Portion subcarriers.
Step 6, it establishes the model as shown in (formula 2), (formula 3), (formula 4) and estimates that there are a mesh in WI-FI transceiver network
The CSI measured value of i-th j link when markR ij :
When target is on los path,
When target is in obstructed path but when inside first Fresnel zone domain:
When target is at the overseas portion of first Fresnel zone:
Wherein,Value, the i-th j link are transmitting terminal i and reception
Hold the link between j；R ij For there are the estimation CSI measured values of the i-th j link when a target in WI-FI transceiver network；i=
1 ..., N；J=1 ..., M；
For the propagation attenuation value of the i-th j link:
,It is the distance of transmitting terminal i and receiving end j,It is in center frequency
The wavelength of rate；
D ija For diffracted sound field value caused by target occlusion the i-th j link:
,For Fresnel-Kirchhoff diffraction parameter,,h a Indicate target highest point to the i-th j link distance,It is hair
The distance of end i and target is penetrated,It is the distance of receiving end j and target；
Wherein, ；；
Since there are fresnel integrals, soJIt is nonlinear function.We select the mixing using GA algorithm and GD algorithm
Method obtains unknown quantityC i 、C j 、C t 、h t WithA t Solution one group of solution is effectively first initialized using GA algorithm in each iteration,
Then GD algorithm is refined according to the initial value that GA algorithm obtains, and finds an optimal solution.As shown in figure 3, excellent in this example
The error for changing target position and locations of real targets that solution obtains is 0.7m.
Experimental result comparison:
Inventor attempt gone from following three in terms of assess the present embodiment provide based on the low of fine granularity subcarrier information
Cost passive type localization method:
Positioning accuracy under three kinds of varying environments；Stability under different parameters；The positioning performance of two targets.
Positioning accuracy:
Fig. 3 is the present invention and RASS under indoor home environment, Pilot and RTI position error cumulative distribution figure, horizontal axis
Indicate position error, the longitudinal axis indicates cumulative distribution.Therefrom it can be seen that error median as low as 0.7m of the present invention, 80% error
Less than 1.2m, compared to the RASS that error median is 1.4.m, 1.8m and 2.4m, Pilot and RTI system, LiFS performance is most
It is excellent.
Fig. 4 and Fig. 5 is that the present invention and tetra- kinds of localization methods of RASS, Pilot and RTI are non-in classroom sighting distance and library
Position error in sighting distance scene.All scheme performances are all preferable in sighting distance scene.Of the invention under the conditions of non line of sight,
RASS, Pilot and RTI position error median reduce 2 times, 2.3 times, 1.7 times and 1.5 times respectively.Generally speaking, with
RASS, Pilot and RTI's compares, and LiFS has higher precision in sighting distance and in non line of sight scene.
Stability under different parameters:
(1) influence of client terminal quantity
Fig. 6 illustrates influence of the client terminal quantity to position error.In experiment with 2 every time quantity increase client from
5 to 21.As shown in the figure: horizontal axis represents the quantity of client, and the longitudinal axis represents position error, and four schemes use different face respectively
Color curve is labeled.As client terminal quantity increases, the error of all schemes is all reducing.Since when client increases, chain
Road is increased, and is increased the constraint condition of target position.But inventive can be better than other schemes always.
(2) the mobile influence of client
In reality, most client is mobile terminal or notebook, so to consider the mobile meeting pair of client
What positioning belt, which comes, influences.Fig. 7 illustrates influence of the mobile quantity of client to positioning accuracy, and horizontal axis represents mobile client
Quantity, the left longitudinal axis represents position error, and the right longitudinal axis represents verification and measurement ratio.Allow 5 user's random movements, 5 clients in experiment,
One client of every person keeps its height in a level, gradually increases the quantity of mobile client from 1 to 5.It is tied
As shown, the quantity with mobile client increases, verification and measurement ratio declines fruit, this is because can be used to position be by static
The Radio Link of client and AP composition, number of links are reduced, and are reduced to the constraint condition of target position.As long as being also found that
Stationary clients quantity is no less than a, then verification and measurement ratio is not less than 90%.
(3) influence of target size
In reality, different target size is different.Fig. 8 gives influence knot of the different size target to positioning accuracy
Fruit, horizontal axis indicate different size of target, and the longitudinal axis indicates position error, allow the people of 6 different weights and height to carry out respectively real
It tests.By result as it can be seen that LiFs best performance, the position error of 6 targets is all between 0.7m-1m.
The positioning performance of two targets:
We implement to test having a size of the living room the m of 7 m × 6 under home environment.Allow height be 171cm and
Two people of 173cm work as target.A target is allowed to be moved to the lower right corner from the upper left corner, while another target is mobile from the lower right corner
To the upper left corner.Fig. 9 illustrates the positioning result when two targets are at a distance of 5.4 m, 3 m, 1.8 m and 0.6 m remote.By scheming
Known to: the position and actual position being calculated are very close, and positioning accuracy is good.Therefore, when target sparse is distributed in region
The present invention can complete the positioning to two targets when interior.
Claims (1)
1. a kind of low-cost passive type localization method based on fine granularity subcarrier information, which comprises the following steps:
Step 1, WI-FI transceiver network, including N number of transmitting terminal and M receiving end are constructed, further includes M × N link, wherein appointing
Transmitting terminal of anticipating to any one receiving end is a link, and the WI-FI transceiver network is divided into first Fresnel zone
Inside overseas portion and first Fresnel zone domain, it is divided into los path and obstructed path inside the first Fresnel zone domain；
Step 2, when not having target in the WI-FI transceiver network of building, the CSI value of each of the links is acquired as baseline CSI value
Fk, 1≤k≤K, K are the number of subcarriers of the CSI value of each of the links acquisition；
Step 3, when there are the CSI values for when a target, acquiring each of the links to survey as CSI in the WI-FI transceiver network of building
Magnitude Ok, 1≤k≤K；
Step 4, if target present in WI-FI transceiver network surveys CSI in the overseas portion of first Fresnel zone, by (formula 1)
Magnitude is filtered CSI value CSI after pretreatment is pre-processedycl:
Wherein, CSIyclFor CSI value after pretreatment, OkIt is the CSI measured value of k-th of subcarrier, f0It is centre frequency, fkIt is kth
The frequency of a subcarrier, K are total number of sub-carriers；
If target present in WI-FI transceiver network is filtered pre- place inside first Fresnel zone domain, to CSI measured value
Reason:
It removes CSI measured value sub-carriers amplitude and is greater than the CSI measured value of baseline CSI value subcarrier amplitude to get pretreatment is arrived
CSI value afterwards；
Step 5, by objective function shown in (formula 2) solve, obtain transmitting terminal, receiving end, target coordinate, i.e., realization mesh
Demarcate position；
Wherein, Y is N number of transmitting terminal and all number of links that M receiving end forms, CiFor the coordinate of transmitting terminal i, Ci=[xi,
yi]；CjFor the coordinate of receiving end j, Cj=[xj, yj]；CaFor the coordinate of target, Ca=[xa, ya]；haIndicate that target highest point is arrived
The distance of i-th j link；CSIijyFor the CSI value of the i-th j link after pretreatment；
PFM(Ci, Cj, Ca, ha) indicate that there are the CSI measured values of the i-th j link when a target in estimation WI-FI transceiver network
Rij:
When target is on los path,
Rij=Lij+Dija+Aa
When target is in obstructed path but when inside first Fresnel zone domain:
Rij=Lij+Dija
When target is at the overseas portion of first Fresnel zone:
Rij=Lij
Wherein, AaAttenuation by absorption value when for target occlusion los path, chain of the i-th j link between transmitting terminal i and receiving end j
Road；RijFor there are the estimation CSI measured values of the i-th j link when a target in WI-FI transceiver network；I=1 ..., N；J=
1 ..., M；
LijFor the propagation attenuation value of the i-th j link:
dijIt is the distance of transmitting terminal i and receiving end j, λ is the wave in centre frequency
It is long；
DijaFor diffracted sound field value caused by target occlusion the i-th j link:
V is Fresnel-Kirchhoff diffraction parameter,haIndicate distance of the target highest point to the i-th j link, diaIt is transmitting
Hold the distance of i and target, djaIt is the distance of receiving end j and target；
Wherein,
Wherein, WI-FI transceiver network described in step 1 is divided into the overseas portion of first Fresnel zone and first Fresnel zone domain
Portion is divided into los path inside the first Fresnel zone domain and obstructed path refers to:
If Δ CSIeff> Ato, then target present in WI-FI transceiver network is on los path；
If δeff< Δ CSIeff≤Ato, then target present in WI-FI transceiver network is in obstructed path but in the first Fresnel
Inside region；
If Δ CSIeff≤δeff, then target present in WI-FI transceiver network is in the overseas portion of first Fresnel zone；
Wherein, AtoAttenuation by absorption initial value when for preset target occlusion los path；
δeffAverage for baseline CSI value subcarrier is poor,f0It is centre frequency, fkIt is
The frequency of k-th of subcarrier, δkIt is the standard deviation of the baseline CSI value of k-th of subcarrier, k=1 ..., K；K adopts for each of the links
The number of subcarriers of the CSI value of collection；
ΔCSIeffIndicate the variation of effective CSI,f0It is centre frequency, Ob
For baseline CSI value, FbFor CSI measured value, I={ b:Ob-Fb> δeff, 1≤b≤K }.
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| CN112738749B (en) * | 2020-12-25 | 2021-10-01 | 武汉理工大学 | Multi-target indoor positioning method for shipborne environment based on Fresnel zone |
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| FitLoc:Fine-grained and low-cost device-free localization for multiple targets over various areas;Liqiong Chang,Xiaojiang Chen,Yu Wang;《IEEE Xplore》;20160728;全文 * |
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